A method of calibrating a camera sensor and a SPAD LiDAR includes extracting identified features in each of a selected camera image and an ambient-intensity (A-I) image, generating a set of keypoints based on the identified features extracted for each of the images to provide a set of 2D camera keypoint locations and a set of 2D A-I keypoint locations, determining matched keypoints based on the set of 2D A-I keypoint locations and the set of 2D camera keypoint locations to provide a set of 2D A-I matched pixel locations and a set of 2D camera matched pixel locations, interpolating a 3D point cloud data with the set of 2D A-I matched pixel locations to obtain a set of 3D LiDAR matched pixel locations, and determining and storing extrinsic parameters to transform the set of 3D LiDAR matched pixel locations with the set of 2D camera matched pixel locations.
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2. The method of claim 1 further comprising having the camera sensor and the SPAD LiDAR sensor synchronized to a common reference clock.
3. The method of claim 1 further comprising pairing the selected camera image with the A-I image based on a camera timestamp associated with the selected camera image and a SPAD LiDAR timestamp associated with the A-I image.
8. The method of claim 1, wherein the one or more identified features extracted are indicative of a shaped edge, a shaped contour, a predetermined classification of known objects, a corner of an object, or a combination thereof.
10. The method of claim 1 further comprising generating an ambient image and an intensity image based one the 3D point cloud data, wherein the A-I image includes the ambient image and the intensity image.
11. The method of claim 1, wherein the camera image and the A-I image are indicative of an uncontrolled environment outside of the vehicle.
13. The system of claim 12, wherein the instructions further comprise pairing the selected camera image with the A-I image based on a camera timestamp associated with the selected camera image and a SPAD LiDAR timestamp associated with the A-I image.
18. The system of claim 12, wherein the one or more identified features extracted are indicative of a shaped edge, a shaped contour, a predetermined classification of known objects, a corner of an object, or a combination thereof.
19. The system of claim 12, wherein the instructions further comprise generating an ambient image and an intensity image based one the 3D point cloud data, wherein the A-I image includes the ambient image and the intensity image.
20. The system of claim 12, wherein the camera image and the A-I image are indicative of an uncontrolled environment outside of the vehicle.
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March 30, 2022
November 26, 2024
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